Séminaire de Philipp TEMPEL (ISW, Universität Stuttgart)
13 juillet 2018 @ 8 h 00 min - 17 h 00 min
L’équipe RoMaS accueille Philipp Tempel, enseignant-chercheur à l’Institute for Control Engineering of Machine Tools and Manufacturing Units de l’Université de Stuttgart (Allemagne).
Ce dernier animera un séminaire intitulé « Improved Modeling of Kinematics and Dynamics of Cable-Driven Parallel Robots »
vendredi 13 juillet 2018 à 14h30 dans l’Amphi B8 de Centrale Nantes.
Abstract:
Cable-driven parallel robots are a special implementation of conventional rigid-link parallel manipulators. Use of cables gives these systems an edge over other robotic manipulators due to arbitrarily large workspaces, high dynamics, and beneficial payload-to-inertia ratio. However, these benefits demand a price resulting from the reduced flexural rigidity of the actuating components–the cables. It is of great interest for improving overall stiffness and accuracy of cable robots, especially for high-speed applications, to foster knowledge on cables used in cable robots and to improve the forward and inverse dynamics models. It is an open question of research to find suitable models for the motion dynamics of cables used in cable robots, especially when wanting to use these models also for real-time control purposes.
In this presentation, we will show different approaches to describing the manipulating links of cable-driven parallel robots based on spatial discretization and continuum mechanics approaches. We will also focus on the straining behavior of cables for which good models are necessary as cable force controllers make use of these.
Additionally, an overview of other research topics on cable robots in Stuttgart will be given.
Bio:
Philipp Tempel received his Dipl.-Ing. (Diplomingenieur) in Engineering Cybernetics at the University of Stuttgart in 2013. He graduated with special emphasis on non-linear and model predictive control for application in optical systems and biomedical engineering. Philipp is currently a research assistant at the Institute for Control Engineering of Machine Tools and Manufacturing Units ISW at the University of Stuttgart. In spring of 2014, he was a visiting researcher at the Robot Research Initiative of the Chonnam National University, Gwangju, Republic of Korea; in spring of 2016, he was a visiting researcher at the Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM), in Montpellier, France. His PhD interests are modeling and simulation of kinematics and dynamics of redundantly restrained cable-driven parallel robots. His research interests include flexible parallel robot kinematics, continuum mechanics, and cable-driven manipulators.
